VPR is commonly used to describe the ability to recognize a previously visited location despite significant appearance or viewpoint changes [1]}. Local feature matching is also a significant part of VPR pipelines [2]}. Recent works have leveraged advances in deep networks based patch aggregation [3]}, saliency detection [4]}, and transformers with multi-scale attention [5]}. As per our knowledge, our work is the first to utilize a rotation equivariant system for the task of VPR and demonstrate state-of-the-art results on real-world scenes from our UrbanScenes3D-Air dataset.
